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<a href="collision__queries_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//*  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__solvers_8h.html">collision/solvers/collision_solvers.h</a>&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__queries_8h.html">collision/solvers/collision_queries.h</a>&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00008"></a><span class="lineno"><a class="line" href="namespacecollision_1_1detail.html">    8</a></span>&#160;<span class="keyword">namespace </span>detail {</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// default solver</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">inline</span> std::size_t</div><div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="namespacecollision_1_1detail.html#af41c91f64dec338b8f5277fc0bdd9f2c">   12</a></span>&#160;<a class="code" href="namespacecollision_1_1detail.html#af41c91f64dec338b8f5277fc0bdd9f2c">collide_binary_helper</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;                      <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="keyword">static</span> <a class="code" href="classcollision_1_1solvers_1_1_default_solver.html">solvers::DefaultSolver</a> solver;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keyword">static</span> <a class="code" href="classcollision_1_1solvers_1_1_collision_function_matrix.html">solvers::CollisionFunctionMatrix</a> matr_default(&amp;solver);</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">auto</span> func = matr_default.<a class="code" href="classcollision_1_1solvers_1_1_collision_function_matrix.html#aed8a3913944cbf6eab6bdeb89eaa6bc5">getSolverBoolFunction</a>(obj1.<a class="code" href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">getCollisionObjectType</a>(),</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;                                                 obj2.<a class="code" href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">getCollisionObjectType</a>());</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keywordflow">return</span> func(obj1, obj2, res, req);</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;}</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> solvers::DefaultSolver *&gt;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">inline</span> std::size_t</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<a class="code" href="namespacecollision_1_1detail.html#af41c91f64dec338b8f5277fc0bdd9f2c">collide_binary_helper</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;                      <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req);</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">// solverFCL solver</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">template</span> &lt;&gt;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="namespacecollision_1_1detail.html#a8a6eb3b2383426ae3de221a6a3752cd6">   28</a></span>&#160;<span class="keyword">inline</span> std::size_t collide_binary_helper&lt;typename solvers::FCLSolver *&gt;(</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2,</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res, <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keyword">static</span> <a class="code" href="classcollision_1_1solvers_1_1_f_c_l_solver.html">solvers::FCLSolver</a> solver;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keyword">static</span> <a class="code" href="classcollision_1_1solvers_1_1_collision_function_matrix.html">solvers::CollisionFunctionMatrix</a> matr_default(&amp;solver);</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keyword">auto</span> func = matr_default.<a class="code" href="classcollision_1_1solvers_1_1_collision_function_matrix.html#aed8a3913944cbf6eab6bdeb89eaa6bc5">getSolverBoolFunction</a>(obj1.<a class="code" href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">getCollisionObjectType</a>(),</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;                                                 obj2.<a class="code" href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">getCollisionObjectType</a>());</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keywordflow">return</span> func(obj1, obj2, res, req);</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;}</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">// primitive solver</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">template&lt;&gt; inline std::size_t collide_binary_helper&lt;typename</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">solvers::PRIMITIVE_SOLVER&gt;(const CollisionObject&amp; obj1, const CollisionObject&amp;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">obj2, CollisionResult&amp; res, const CollisionRequest&amp; req)</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">{</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">static solvers::PRIMITIVE_SOLVER solver;</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">static solvers::CollisionFunctionMatrix matr_default(solver);</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">auto func = matr_default.getSolverBoolFunction(obj1.getCollisionObjectType(),</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">obj2.getCollisionObjectType()); return func(obj1, obj2, res, req);</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment">}</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;} <span class="comment">// namespace detail</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="namespacecollision.html#a5cee8ff95bba8dd2854ffb0d65c45a0e">   52</a></span>&#160;std::size_t <a class="code" href="namespacecollision.html#a5cee8ff95bba8dd2854ffb0d65c45a0e">collide_binary</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj1,</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                           <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;obj2, <a class="code" href="classcollision_1_1_collision_result.html">CollisionResult</a> &amp;res,</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                           <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_request.html">CollisionRequest</a> &amp;req) {</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordflow">switch</span> (req.<a class="code" href="classcollision_1_1_collision_request.html#a4f8a8be35a7e0f0ba4491f32c183f763">col_solver_type</a>) {</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordflow">case</span> <a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aa8ebb6af9dcffddc56e2de7bad9a3508b">COL_DEFAULT</a>:</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">return</span> detail::collide_binary_helper&lt;solvers::DefaultSolver *&gt;(obj1, obj2,</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                                                                   res, req);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordflow">case</span> <a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab">COL_FCL</a>:</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">return</span> detail::collide_binary_helper&lt;solvers::FCLSolver *&gt;(obj1, obj2, res,</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;                                                               req);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="comment">// case COL_PRIMITIVE:</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="comment">//  return detail::collide_binary_helper&lt;solvers::PRIMITIVE_SOLVER&gt;(obj1,</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="comment">//obj2, res, req);  break;</span></div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  }</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="classcollision_1_1solvers_1_1_default_solver_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1_default_solver.html">collision::solvers::DefaultSolver</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__solvers_8h_source.html#l00013">collision_solvers.h:13</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1_collision_function_matrix_html_aed8a3913944cbf6eab6bdeb89eaa6bc5"><div class="ttname"><a href="classcollision_1_1solvers_1_1_collision_function_matrix.html#aed8a3913944cbf6eab6bdeb89eaa6bc5">collision::solvers::CollisionFunctionMatrix::getSolverBoolFunction</a></div><div class="ttdeci">collide_bool_func_t getSolverBoolFunction(CollisionObjectType obj1_type, CollisionObjectType obj2_type) const</div><div class="ttdef"><b>Definition:</b> <a href="collision__solvers_8h_source.html#l00026">collision_solvers.h:26</a></div></div>
<div class="ttc" id="collision__solvers_8h_html"><div class="ttname"><a href="collision__solvers_8h.html">collision_solvers.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1_collision_function_matrix_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1_collision_function_matrix.html">collision::solvers::CollisionFunctionMatrix</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__solvers_8h_source.html#l00020">collision_solvers.h:20</a></div></div>
<div class="ttc" id="collision__queries_8h_html"><div class="ttname"><a href="collision__queries_8h.html">collision_queries.h</a></div></div>
<div class="ttc" id="namespacecollision_html_a5710326b44abbfb109e65257ee5f310aa8ebb6af9dcffddc56e2de7bad9a3508b"><div class="ttname"><a href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aa8ebb6af9dcffddc56e2de7bad9a3508b">collision::COL_DEFAULT</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00006">collision_requests.h:6</a></div></div>
<div class="ttc" id="namespacecollision_1_1detail_html_af41c91f64dec338b8f5277fc0bdd9f2c"><div class="ttname"><a href="namespacecollision_1_1detail.html#af41c91f64dec338b8f5277fc0bdd9f2c">collision::detail::collide_binary_helper</a></div><div class="ttdeci">std::size_t collide_binary_helper(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__queries_8cc_source.html#l00012">collision_queries.cc:12</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_html_a5cee8ff95bba8dd2854ffb0d65c45a0e"><div class="ttname"><a href="namespacecollision.html#a5cee8ff95bba8dd2854ffb0d65c45a0e">collision::collide_binary</a></div><div class="ttdeci">std::size_t collide_binary(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, CollisionResult &amp;res, const CollisionRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="collision__queries_8cc_source.html#l00052">collision_queries.cc:52</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1_f_c_l_solver_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1_f_c_l_solver.html">collision::solvers::FCLSolver</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__solvers_8h_source.html#l00012">collision_solvers.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_request_html"><div class="ttname"><a href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a></div><div class="ttdoc">Universal structure specifying collision request properties.</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00026">collision_requests.h:26</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html_a2bc867e40184d64561ceac3f2276f976"><div class="ttname"><a href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">collision::CollisionObject::getCollisionObjectType</a></div><div class="ttdeci">virtual CollisionObjectType getCollisionObjectType() const</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00060">collision_object.h:60</a></div></div>
<div class="ttc" id="namespacecollision_html_a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab"><div class="ttname"><a href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab">collision::COL_FCL</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00006">collision_requests.h:6</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_request_html_a4f8a8be35a7e0f0ba4491f32c183f763"><div class="ttname"><a href="classcollision_1_1_collision_request.html#a4f8a8be35a7e0f0ba4491f32c183f763">collision::CollisionRequest::col_solver_type</a></div><div class="ttdeci">CollisionSolverType col_solver_type</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00032">collision_requests.h:32</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_result_html"><div class="ttname"><a href="classcollision_1_1_collision_result.html">collision::CollisionResult</a></div><div class="ttdoc">Structure holding result for a collision request.</div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00012">collision_requests.h:12</a></div></div>
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